tracking objects fly far away after move from side to side

openxrlab / xrslam

OpenXRLab Visual-inertial SLAM Toolbox and Benchmark

Apache License 2.0

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tracking objects fly far away after move from side to side #11

Closed kismeter closed 1 year ago

kismeter commented 1 year ago

when slam started and place a model, the tracking seems good. Then try move phone from side to side several times, the object becoming smaller and smaller until disappear.

wangnancpp commented 1 year ago

Current version of XRSLAM has only the ability of odometry. So it can't recover tracking by relocalization. And we will soon add module of mapping to support reloclization and increase the robustness of tracking.

wangni-bupt commented 1 year ago

My test found that this is also the case. It should belong to zero speed drift. Do I need to use ZUPT to directly switch to pure IO to correct it

lcc157 commented 1 year ago

@wangnancpp Hello, I have encountered similar problems. When do you plan to support relocation？Thanks